/* Siconos is a program dedicated to modeling, simulation and control
 * of non smooth dynamical systems.
 *
 * Copyright 2024 INRIA.
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 * http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */

#ifndef ConvexQP_compute_error_H
#define ConvexQP_compute_error_H

/*!\file ConvexQP_computeError.h
  \brief functions related to error computation for friction-contact
*/

#include "NumericsFwd.h"    // for ConvexQP, SolverOptions
#include "SiconosConfig.h"  // for BUILD_AS_CPP // IWYU pragma: keep

#ifdef __cplusplus
#undef restrict
#define restrict __restrict
#endif

#if defined(__cplusplus) && !defined(BUILD_AS_CPP)
extern "C" {
#endif

/** Error computation for a reduced ConvexQP problem (A=I, b=0).
    This function requires dWork to point to
    at least 2*n+m double of allocated memory or it mallocs this memory.
 \param problem the structure which defines the ConvexQP problem
 \param z vector
 \param w vector
 \param tolerance value for error computation
 \param options solver options
 \param norm coeff to normalize error
 \param[in,out] error value
 \return 0 if ok
 */
int convexQP_compute_error_reduced(ConvexQP *problem, double *z, double *w, double tolerance,
                                   SolverOptions *options, double norm, double *error);

/** Error computation for a ConvexQP problem;
    this function requires dWork to point to
    at least 2*n+m double of allocated memory or it mallocs this memory.
    \param problem the structure which defines the ConvexQP problem
    \param z vector
    \param xi multiplier vector
    \param w vector (w = s A^T xi)
    \param u (=Az+b) constraints vector
    \param tolerance value for error computation
    \param scaling  parameter s applied on the multiplier xi
    \param options solver options
    \param norm coeff to normalize error
    \param[in,out] error value
    \return 0 if ok
 */
int convexQP_compute_error(ConvexQP *problem, double *z, double *xi, double *w, double *u,
                           double tolerance, double scaling, SolverOptions *options,
                           double norm_q, double norm_b, double *error);

#if defined(__cplusplus) && !defined(BUILD_AS_CPP)
}
#endif

#endif
